Abstract
This article presents the design and analysis of the trajectory-tracking controller for an underactuated unmanned underwater vehicle (UUV) sailing in the horizontal plane. This trajectory-tracking control strategy is proposed based on a novel nonlinear integral sliding mode control (NISMC), which is strongly robustness with regard to parameter perturbation and unknown constant currents. Firstly, the dynamic equations of the tracking errors are obtained by the horizontal virtual vehicle guidance. Secondly, the stabilization of these tracking errors is achieved by developing the sliding mode tracking controller. Then, using the finite-time Lyapunov stability theory, it is well proved that this tracking control strategy can globally stabilize all tracking errors in finite time. Finally, the simulation results are used to show good control performance of the designed tracking controller.
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